Learning Dynamics Models with Stable Invariant Sets

Naoya Takeishi, Yoshinobu Kawahara

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Invariance and stability are essential notions in dynamical systems study, and thus it is of great interest to learn a dynamics model with a stable invariant set. However, existing methods can only handle the stability of an equilibrium. In this paper, we propose a method to ensure that a dynamics model has a stable invariant set of general classes such as limit cycles and line attractors. We start with the approach by Manek and Kolter (2019), where they use a learnable Lyapunov function to make a model stable with regard to an equilibrium. We generalize it for general sets by introducing projection onto them. To resolve the difficulty of specifying a to-be stable invariant set analytically, we propose defining such a set as a primitive shape (e.g., sphere) in a latent space and learning the transformation between the original and latent spaces. It enables us to compute the projection easily, and at the same time, we can maintain the model’s flexibility using various invertible neural networks for the transformation. We present experimental results that show the validity of the proposed method and the usefulness for long-term prediction.

Original languageEnglish
Title of host publication35th AAAI Conference on Artificial Intelligence, AAAI 2021
PublisherAssociation for the Advancement of Artificial Intelligence
Pages9782-9790
Number of pages9
ISBN (Electronic)9781713835974
Publication statusPublished - 2021
Event35th AAAI Conference on Artificial Intelligence, AAAI 2021 - Virtual, Online
Duration: Feb 2 2021Feb 9 2021

Publication series

Name35th AAAI Conference on Artificial Intelligence, AAAI 2021
Volume11A

Conference

Conference35th AAAI Conference on Artificial Intelligence, AAAI 2021
CityVirtual, Online
Period2/2/212/9/21

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence

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